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<div class="title">lineFinderExample.cpp</div>  </div>
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<p>Simple example of <a class="el" href="classAria.html" title="Contains global initialization, deinitialization and other global functions. ">Aria</a>'s line-finder utility, which uses data from a laser rangefinder to detect a continues line of points.This example program will constantly search for a line-like pattern in the sensor readings of a laser rangefinder. If you press the 'f' key, those points will be saved in 'points' and 'lines' files. Use arrow keys or joystick to teleoperate the robot.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line">{</div><div class="line">  <a name="a0"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a1"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line">  parser.<a name="a2"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line">  <a name="_a3"></a><a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line">  <a name="_a4"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line">  <a name="_a5"></a><a class="code" href="classArLaserConnector.html">ArLaserConnector</a> laserConnector(&amp;parser, &amp;robot, &amp;robotConnector);</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a6"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a name="a7"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a8"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;lineFinderExample: Could not connect to the robot.&quot;</span>);</div><div class="line">    <span class="keywordflow">if</span>(parser.<a name="a9"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">        <span class="comment">// -help not given</span></div><div class="line">        <a name="a10"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">        <a name="a11"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a12"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">  }</div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a13"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;lineFinderExample: Connected to robot.&quot;</span>);</div><div class="line"></div><div class="line">  robot.<a name="a14"></a><a class="code" href="classArRobot.html#a3c3d878cfd11a2ef91230005a83bfcaa">runAsync</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Connect to laser(s) as defined in parameter files.</span></div><div class="line">  <span class="comment">// (Some flags are available as arguments to connectLasers() to control error behavior and to control which lasers are put in the list of lasers stored by ArRobot. See docs for details.)</span></div><div class="line">  <span class="keywordflow">if</span>(!laserConnector.<a name="a15"></a><a class="code" href="classArLaserConnector.html#ab97ce6a5fedebf44526773bc674b970e">connectLasers</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;Could not connect to configured lasers. Exiting.&quot;</span>);</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(3);</div><div class="line">    <span class="keywordflow">return</span> 3;</div><div class="line">  }</div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;lineFinderExample: Connected to laser&quot;</span>);</div><div class="line"></div><div class="line">  <a name="_a16"></a><a class="code" href="classArKeyHandler.html">ArKeyHandler</a> keyHandler;</div><div class="line">  <a name="a17"></a><a class="code" href="classAria.html#a9e5496a4ec2c379c8e18706922b57cc1">Aria::setKeyHandler</a>(&amp;keyHandler);</div><div class="line">  robot.<a name="a18"></a><a class="code" href="classArRobot.html#ab4ea516667d2358f35b435d97b616ab1">attachKeyHandler</a>(&amp;keyHandler);</div><div class="line"></div><div class="line"></div><div class="line">  <span class="comment">// Create the ArLineFinder object. Set it to log lots of information about its</span></div><div class="line">  <span class="comment">// processing.</span></div><div class="line"></div><div class="line">  <a name="_a19"></a><a class="code" href="classArLaser.html">ArLaser</a> *laser = robot.<a name="a20"></a><a class="code" href="classArRobot.html#a6078092b71a4e521bbc8f0cb5c92da46">findLaser</a>(1);</div><div class="line">  <span class="keywordflow">if</span>(!laser)</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;lineFinderExample: No laser device connected, exiting.&quot;</span>);</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(4);</div><div class="line">    <span class="keywordflow">return</span> 4;</div><div class="line">  }</div><div class="line"></div><div class="line">  <a name="_a21"></a><a class="code" href="classArLineFinder.html">ArLineFinder</a> lineFinder(laser);</div><div class="line">  lineFinder.<a name="a22"></a><a class="code" href="classArLineFinder.html#a58b38357803dc7047cd13b5e11985706">setVerbose</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Add key callbacks that simply call the ArLineFinder::getLinesAndSaveThem()</span></div><div class="line">  <span class="comment">// function, which searches for lines in the current set of laser sensor</span></div><div class="line">  <span class="comment">// readings, and saves them in files with the names &#39;points&#39; and &#39;lines&#39;.</span></div><div class="line">  <a name="_a23"></a><a class="code" href="classArFunctorC.html">ArFunctorC&lt;ArLineFinder&gt;</a> findLineCB(&amp;lineFinder, </div><div class="line">                  &amp;<a name="a24"></a><a class="code" href="classArLineFinder.html#ace8edfb7fe1305cf1f0ae5bd45ba0bfe">ArLineFinder::getLinesAndSaveThem</a>);</div><div class="line">  keyHandler.<a name="a25"></a><a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;f&#39;</span>, &amp;findLineCB);</div><div class="line">  keyHandler.<a class="code" href="classArKeyHandler.html#ad5442ebb21cd242ab168e94686e06759">addKeyHandler</a>(<span class="charliteral">&#39;F&#39;</span>, &amp;findLineCB);</div><div class="line"></div><div class="line">  </div><div class="line">  printf(<span class="stringliteral">&quot;If you press the &#39;f&#39; key the points and lines found will be saved\n&quot;</span>);</div><div class="line">  printf(<span class="stringliteral">&quot;Into the &#39;points&#39; and &#39;lines&#39; file in the current working directory\n&quot;</span>);</div><div class="line"></div><div class="line">  robot.<a name="a26"></a><a class="code" href="group__easy.html#ga95201be7c39b521983b51e6f5d9303e4">waitForRunExit</a>();</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line">}</div><div class="line"></div><div class="line"></div><div class="line"></div></div><!-- fragment --> </div><!-- contents -->
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